Resources and Reflections

The Genreal Purpose Robotics Architecture

The system is a modular architecture with  self assembling capabilities comprised of thirteen fundamental sub-assemblies divided into four classes; Armature, Teeth, Plates and Clips. The Teeth, Plates and Clips assemble into Struts, two nested telescoping cylinders capable of vigorous and highly precise rotational and translational accelerations. The system is explicitly based on organic models, primarily coral and earth worms. Based in the concept of highly rudundant cellular automata, each cell having rudimentary sensing, signalling, mobility, information processing and energy generation and storage facilities, and a distributed neural network based information processing and control architecture.

Full citations, specifications, 3Ds and AutoCAD Stereo-Litho ready models are available for serious reviewrs.

All contents are copyright 2007 Larry Buzbee and all rights are reserved.

Modeling was performed in AutoCAD and rendering and animations in 3D Studio Max v9.

The sub-assemblies and composites are defined in detail in the following images.

ad1.jpg ◄ Back Next ► Picture 1 of 14 Subdivision of the face of the tetrahedron showing center-face socket location (circle).	These images define the formal derivation of the system geometry from the regular tetrahedron.
AR-3DS-1.jpg ◄ Back Next ► Picture 1 of 49 Beautiful angle on a fully decked-out Armature module. The outer abrasion resistant ceramic shell is shown here in pearlescent buff color and the inward projecting radial Teeth of the receiver sockets are clearly visible.	The Armature defines the three dimensional structure of composite systems. In addition to its structural role, it acts as a co-ordinator and controller of connected sub-assemplies as well as a central power source and fuel distribution hub.
AR-TOOTH-3DS-1.jpg ◄ Back Next ► Picture 1 of 12 PC actuator shown in gray on this inward facing Tooth from the inner layer of the outer Strut tube. All internal components are typical of all Tooth units regardless of layer except the geometry of the outer body surface or shell which has been hidden in this view.	The Tooth is the prime mover of the system using, in this version, piezoceramic actuator technology, a mature industrial application of high efficiency and robust structure. Based on currently available form factors, the nominal  volume of the Tooth was set as a cube of 5mm per side. All other dimensions in the system derive from this basic unit, just as all angular dimensions derive from the cylinder, in the case of the Strut and its sub-assemblies, and the angular dimensions of the Armature and all composite stuctures derived from it are defined from the regular tetrahedron.
IP1.jpg ◄ Back Next ► Picture 1 of 21 Plate body exterior view showing receiving sockets for vertical and horizontal Clips. Radial depth is 5mm.	The Plates make Tooth studded cylinders.
AC4.jpg ◄ Back Next ► Picture 1 of 16 Looking down a stack of T Clips, from teh outermost (and largest) that connect the Teeth lining the recieving socket of the Armature.	The Clips attach one thing to another.
1ir.jpg ◄ Back Next ► Picture 1 of 19 A compete annular section of the inner Strut tube assembled from 12 individual Plate modules (Tooth modules not shown) showing the Plate body in Cyan and cover plate in purple. A 13th Plate module is shown attached to the annular section	Plates and Teeth make Struts, the bones, nerves and muscle of the system.
1-1.jpg ◄ Back Next ► Picture 1 of 44 Single Armature module with four Struts connected viewed from the inner side. This assembly is capable of several modes of locomotion.	And here a few simple configurations.

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